DC MOTOR POSITION CONTROL SYSTEM DESIGN AND EVALUATION

1. System analysis and report Hint: perform the following for the uncompensated system: i. Open loop pole-zero analysis, Root locus plot , Bode ii. closed-loop step response iii. Based on (i) and (ii) steps above, comment on the system stability, type of response and uncompensated time domain performance such as rise time, settling time and overshoot. 2. Controller design and simulation: The objective is to design two appropriate controllers (phase compensator and PID compensator) to achieve the following performance specifications: i. Overshoot of less than 10% ii. Settling time less than or equal to 5seconds (ts<=5s) iii. Phase margin between 45 and 65 degree, and Gain margin of at least 6dB Hint: i. Design a Phase compensator (Lead or Lag) and a PID (PD or PI) to achieve above control objectives. Show your design steps clearly with necessary assumption and design decision. ii. Show the compensated open loop Bode plot iii. Simulate the system with the designed compensator for unit step { u(t) } and 10 unit step input { 10u(t) }and observe the time domain performances (overshoot and setting time). iv. Clearly show your design work including figures, chart, Matlab-Simulink diagram(s) and Matlab codes, calculations.